Self balancing with reaction wheels (open source)

Рет қаралды 25,850

Жыл бұрын

One and two axis self balancing sticks with reaction wheels. 3D printed.
Arduino nano, DC motors, TB6612 motor driver, MPU6050, AS5600 position sensors, 3S 500 mAh LiPo battery.
github.com/remrc/
www.thingiverse.com/remrc

Пікірлер: 103

@sharpiestealer Жыл бұрын

i love your videos! i'm going to build a large autonomous unicycle with a reaction wheel as an independent research project at uni and i'm always excited when a video of yours pops up in my recommended!

@grahamterrell 10 ай бұрын

I have an application for a "reaction wheel" style robot. Maybe we can chat?

@DJBioMusic Жыл бұрын

This is so cool, great work

@liemph Жыл бұрын

Thank you for sharing. Maybe these are the simplest and cheapest configuration I ever found for these self-balancing platforms. You are right, NIDEC motors with encoders are still the best.

@B.Malagon Жыл бұрын

Congrats, very simple explanation and great video!

@pawich1089 Жыл бұрын

@MirkoPavleskiMK Жыл бұрын

Awesome project, thanks for sharing

@cqllysto Жыл бұрын

Awesome video bro! Thank you! Im currently trying to get mine to work and its been a struggle lol

@pawich1089 Жыл бұрын

@falkgerbig7787 Жыл бұрын

Thanks for great explanation.

@raffyturc 4 ай бұрын

very nice project. thanks. 😊

@Shmark Жыл бұрын

Respect+++++

@RahmatPurnomo64 Жыл бұрын

amazing sir

@GUILLERMO.NESPOlO Жыл бұрын

Love your videos !!! I’m starting with arduino and I want to add a reaction well to my steadicam. ….your advice can be of great help

@pawich1089 Жыл бұрын

@prabhakararaon1649 Жыл бұрын

Excellent👍👍👍👍👍👍

@mdabdullah6868 Жыл бұрын

sir this project also good.🥰🥰

@franvaz2318 9 ай бұрын

Hey just wondering if i could make this with a adafruit v1 motor shield and an Arduino Uno instead

@steve5nash 7 ай бұрын

What is the name of the green PCB board at the bottom?

@steve5nash 7 ай бұрын

What is a motor plastic reducer and where can I get them?

@geoffhall9568 6 ай бұрын

I'm starting to build this. Thanks for all the work you put into it. I have one question, do you have any links to the magnet you are using? Thanks again.

@ReMRC 6 ай бұрын

It can be any small magnet. I took them out of the CDROM optical control. But it is better to use round magnets, but only for this purpose ("diametrically neodymium magnet" - ask google or aliexpress for this).

@steve5nash 7 ай бұрын

Do you need the RioRand-LM2596-Converter ?

@mathmaker6946 9 ай бұрын

I've commented before and it is still one of my favourite projects to try at home. Did you use LQR to control the system? Because of your video it inspired me to study control systems.

@ReMRC 9 ай бұрын

Yes. Learning is always good.

@mathmaker6946 9 ай бұрын

@@ReMRC thanks again, huge fan. Sorry to bother but did you took into account the yellow dc motor torque constants and the moment of inertia from the entire robot or maybe the LQR tunning was arbitrary? I'm really struggling with the moment of inertia, i'm considering measuring it using CAD. Cheers

@ReMRC 9 ай бұрын

@@mathmaker6946I don't know the torque of the yellow DC motor. Tuning is just my experience.

@steve5nash 8 ай бұрын

is there a way to do this without soldering?

@kevinmanuele1034 Жыл бұрын

Great work! I intend to try to machine many of these parts (don't have a 3D printer). Github has only STL files. I could always estimate but are there dimensioned drawings available? Also, is there a criteria for the added mass around the wheel perimeter ? thanks 1

@ReMRC Жыл бұрын

Dimensions are not that important (of course there are limits). The distribution of mass around the wheel perimeter is not important.

@asunasposibol Жыл бұрын

Hi. I read your comment and I have the same issue (I got CNC but not and printer). did you get the files for machining?

@ukaszlipski4663 Жыл бұрын

❤

@geoffhall9568 6 ай бұрын

I've printed out the frame, the stand and the wheel. Unfortunely I couldn't get nuts and bolts small enough for this wheel. I'm learning Microsoft 3D Builder to be able to modify it to handle M6 bolts. Lots of fun! One question I have, I noticed the wheel is not perfectly round, it is made up of 36 trapazoids. Is there a reason for this? Does it make the file size smaller? Is it easier for the 3D printer to print? Or did it just happen to be like this. Thanks again for all your help. I'm doing this for our High School Robotics Club. Will send you pictures when complete.

@ReMRC 6 ай бұрын

Very strange that there are no M4 bolts. 36 trapezoids are enough for an M4 hole. There is no point in using more. Yes, it has an effect on the calculation speed of the 3D object.

@geoffhall9568 6 ай бұрын

@@ReMRC Thanks. They just didn't have any at the local hardware store. Today I was able to get 8-32 by 3/8 set screws which can be screwed into the holes easily and hold. I then just put 8-32 bolts on each side. Now onto the coding. :)

@steve5nash 7 ай бұрын

damn it I bought the wrong motor

@geoffhall9568 5 ай бұрын

I've built the one axis balancing stick, the motor is working and so is the accelerometer but it is not balancing. I set X2 and X3 to zero and it behaves a bit better . Do you happen to have the X1, X2 and X3 values you used for the DC motor? Or any tips you have on finding the values that work? Thanks again for all the work you have done.

@geoffhall9568 5 ай бұрын

I found your "Reaction wheels for beginners" video so I'm watching that now.

@ReMRC 5 ай бұрын

@@geoffhall9568 This is the right way...

@cholan2100 Ай бұрын

I have the wheel running, not on same stick as yours, but a modified stick mounted like a frame on table, as I only got Arduino Uno and old motor driver. MPU works, I use optical incremental encoder with code to produce rad/sec with direction. PID works, can see the right flow when plotted, also swings to other side when I push it. So far so good. But, doesn't hold the balance :(. It tries to aggressively balance. Keeps trying forever if i force stick to stay within 6 degree threshold with supports on side. But if I let go of supports, the stick falls to ground. Center of gravity issue? Any clues.?

@ReMRC Ай бұрын

You must understand that it is difficult for me to give advice. I don't know how you did it. There can be many reasons why it doesn't work. If you were doing exactly the same as me with the same code, I might wonder what's wrong.

@cholan2100 Ай бұрын

@@ReMRC yeah I understand, cant shoot blind. I guess I have to first do a Nidec motor version to get a stable version, to eliminate noise involved, and then do a Brushed motor version. Sad I can't get Nidec around where o live. Have to find equivalents if at all available.

@ReMRC Ай бұрын

@@cholan2100 Ebay.

@cholan2100 Ай бұрын

@@ReMRC got any place/mail where i can share snapshots of angle/pwm/rpm graph to see if it makes sense?

@ReMRC Ай бұрын

@@cholan2100 Yes, the email is in channel "About".

@lin-br3gb Жыл бұрын

Hello blogger, your videos are really interesting. I have seen many of your videos and am now very interested in these things. I have also tried to reference your videos and code to create a "One Axis Self Balancing Tick DC", but I was not successful. I have encountered a problem and would like to ask you for advice!After completing the assembly according to your video, I will stand the model with the motor rotating and not rotating, and I cannot confirm if my AS5600 is working properly. Sometimes, although he may rotate, he may not be able to stand upright. Your video is very interesting, but there are some areas where it feels technically difficult. Could you please provide a more detailed tutorial? like you

@ReMRC Жыл бұрын

You need to print values of sensors. It would be seen if the values are correct. You may have placed the magnets incorrectly.

@mathmaker6946 Жыл бұрын

I have been fascinated with your project. I'm trying to implement one myself too, with the same dc motors and using MPU6050 as accelerometer. But i2C freezes when the motor is on. I read in your video that you fix that using 150 ohms, but how did you wire them? My i2C is truly making me frustrated, i tried using Arduino UNO board and also ESP32, but the i2c freezes. Thanks in advance.

@ReMRC Жыл бұрын

It's really quite a problem with brush motors. Shorten the wires to the mpu6050 as much as possible. And add resistors to data lines.

@mathmaker6946 Жыл бұрын

@@ReMRC thank you so much, that really worked. I also twisted the data cables together. Your channel awesome!

@steve5nash 10 ай бұрын

@@ReMRC Can you link to the motor that you recommend?

@ReMRC 10 ай бұрын

@@steve5nash Something like this down-ph.img.susercontent.com/file/7cd49c888810b48926e9ad3215be5e39 But I bought it a long time ago.

@steve5nash 10 ай бұрын

@@ReMRC Thank you!

@geoffhall9568 5 ай бұрын

Another question, I don't see in your code nor schematic on github how the AS5600 position sensor is connected or used. So how is it connected and how is it used in the balancing? Thanks.

@ReMRC 5 ай бұрын

Can not be. It is both in the schematic and in the code.

@geoffhall9568 5 ай бұрын

I've sent you an email showing the schematic I am seeing from your github.

@ReMRC 5 ай бұрын

@@geoffhall9568 github.com/remrc/One-Axis-Self-Balancing-Stick-DC

@geoffhall9568 5 ай бұрын

Yes, This is what I was looking for! Thanks so much again!

@natthaphobnimpitiwan7935 6 ай бұрын

I just build as your design. But still have trouble in tuning the gain. Unable to balance,It keeps oscillate. Any suggestion on how to tune the gains?

@ReMRC 6 ай бұрын

No need to change gain values! Which one did you do? One axis or two axis? Send me a video of how it works, then I can give you some advice.

@natthaphobnimpitiwan7935 6 ай бұрын

Thank you so much!! I got it works after carefully listen to one of your q&a clip. I just wire dc motors with wrong polarity.

@nafisfuadjim4817 3 ай бұрын

@@natthaphobnimpitiwan7935 how did you tuned the parameters of the 2 axis stick? can you please tell

@cholan2100 Ай бұрын

Did you modify the motor? For 200 rpm geared motor RPM appears high.

@ReMRC Ай бұрын

No, I didn't change anything.

@cholan2100 Ай бұрын

@@ReMRC wonder what kind of RPM you get out of it. Mine gets around 650-800 on 11V. I assume with this motor it's limited to 0.3-6 degree tilt that it can manage to balance, anything beyond gravity wins? I am still working to get it balance, with Frame on harness form factor and optical IR encoder mounted behind the motor. Using code written from scratch based on yours. Gotta figure out why reaction latency is high.

@miguelrod_qui 3 ай бұрын

Sorry, I did not undertand the usage of encoders on the motors. Why are they so important?

@ReMRC 3 ай бұрын

Encoders are needed to know the rotation speed of motors.

@miguelrod_qui 3 ай бұрын

@@ReMRC is it so that you can accurately set an rpm?

@samarthraj853 2 ай бұрын

How should I start the tuning process after building the hardware part?

@ReMRC 2 ай бұрын

No tuning required. Just set the balancing point.

@samarthraj853 2 ай бұрын

@@ReMRC so i have to just start the system and type c+ the wait for some time while trying to balance the stick then type c- and if calibration successful and it should balance itself if not then I should change the gains values? Is this correct or am I missing something important?

@ReMRC 2 ай бұрын

@@samarthraj853 Yes. But these motors are the worst choice for such a thing. Also, they are not all the same. There are different rotation speeds. I don't know what I have.

@samarthraj853 2 ай бұрын

@@ReMRC so if I try for many gain values I should be able to balance this a lit bit na it might oscillate but it will not fall?

@ReMRC 2 ай бұрын

@@samarthraj853 Try this.

@HasybDar Жыл бұрын

what changes do we need to put in the program if we aren't using encoders?

@ReMRC Жыл бұрын

Don't do that, it works badly.

@HasybDar Жыл бұрын

@@ReMRC by changing the target point how does it get controlled? can you please tell me the control logic behind it.

@ReMRC Жыл бұрын

@@HasybDar With Nidec motors I don't use encoders. You can see source codes.

@rascreations6706 5 ай бұрын

Can this balance itself on incline surfaces?

@ReMRC 5 ай бұрын

Of course yes.

@sebastiangehteuchnixan42 Жыл бұрын

why do you need a magnetic sensor ?

@ReMRC Жыл бұрын

I don't need a magnetic sensor. But I need an encoder.

@steve5nash 7 ай бұрын

What kind of wiring do you use?

@ReMRC 7 ай бұрын

Heat resistant.

@mdabdullah6868 8 ай бұрын

Your genius brother❤ If you don't mind then let me tell you one thing. I want to program the code of this project in Arduino ide on android phone😅 but it's not happening. Because there are many errors here. So please let me know what I should do😅 Please reply me🥰

@ReMRC 8 ай бұрын

I've never used the Arduino IDE on a phone. So, I can't really say anything.

@mdabdullah6868 8 ай бұрын

@@ReMRC Then it is possible to program correctly using computer or Android phone? And which application will be used to program the microcontroller?

@ReMRC 8 ай бұрын

@@mdabdullah6868 Of course. Arduino IDE on PC is the simplest way.